mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
62646d68de
Add two new items in module's dependency: - recommends: a recommended module tells the sorting algo that if the module is found, it should be sorted accordingly. It is useful for optional dependencies, like shell or mission in some modules - suggests: if a functionality is not provided by the user, a module can suggest a list of modules that can provide them. It is a convenient way to have "default" modules. As a result the former autoload node is removed and replaced by suggested modules.
54 lines
2.1 KiB
XML
54 lines
2.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_aspirin_common" dir="imu" task="sensors">
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<doc>
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<description>
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Common functionality of Aspirin IMUs.
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- Accelerometer: ADXL345 via SPI
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- Gyroscope: ITG3200 via I2C
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- Magnetometer: HMC58xx via I2C
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</description>
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<configure name="ASPIRIN_I2C_DEV" value="i2c2" description="I2C device to use"/>
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<configure name="ASPIRIN_SPI_DEV" value="spi2" description="SPI device to use for accel"/>
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<configure name="ASPIRIN_SPI_SLAVE_IDX" value="SPI_SLAVE2" description="slave index of the accel CS pin"/>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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</section>
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</doc>
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<dep>
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<depends>spi_master,i2c,imu_common</depends>
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<provides>imu,mag</provides>
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</dep>
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<header>
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<file name="imu_aspirin.h"/>
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</header>
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<init fun="imu_aspirin_init()"/>
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<periodic fun="imu_aspirin_periodic()"/>
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<event fun="imu_aspirin_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="ASPIRIN_I2C_DEV" default="i2c2" case="lower|upper"/>
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<configure name="ASPIRIN_SPI_DEV" default="spi2" case="lower|upper"/>
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<configure name="ASPIRIN_SPI_SLAVE_IDX" default="SPI_SLAVE2"/>
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<define name="ASPIRIN_I2C_DEV" value="$(ASPIRIN_I2C_DEV_LOWER)"/>
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<define name="USE_$(ASPIRIN_I2C_DEV_UPPER)"/>
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<define name="ASPIRIN_SPI_DEV" value="$(ASPIRIN_SPI_DEV_LOWER)"/>
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<define name="USE_$(ASPIRIN_SPI_DEV_UPPER)"/>
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<define name="ASPIRIN_SPI_SLAVE_IDX" value="$(ASPIRIN_SPI_SLAVE_IDX)"/>
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<define name="USE_$(ASPIRIN_SPI_SLAVE_IDX)"/>
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<define name="ASPIRIN_ARCH_INDEP"/>
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<file name="adxl345_spi.c" dir="peripherals"/>
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<file name="itg3200.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_aspirin.c"/>
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</makefile>
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</module>
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